JP2605038Y2 - Work chucking device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece chucking device which is used by being attached to the tip of an arm of an industrial articulated robot.

[0002]

2. Description of the Related Art Conventionally, in this type of chucking device,
A workpiece such as a round bar as a chat key ring elements, Figure 3
As shown in FIG. 1, a collet 10 is formed by forming slits 102 from the distal end toward the proximal end side at a plurality of locations at equal intervals in the circumferential direction on a substantially cylindrical collet base material 101.
As shown in FIG. 4, the collet 100 is fitted to a nut 103, and the nut 103 is attached to the male thread portion 10 of a main body 104 to be mounted on a robot arm or the like.
5 is screwed. In the chucking device, the work W is inserted into the collet 100, and the nut 103 is further screwed to deform the collet 100 inward in the radial direction, thereby clamping the work W. Had to be done.

[0003]

In the conventional chucking apparatus for a workpiece as described above, since the slit portion 102 is formed on the substantially cylindrical collet base material 101 to form the collet 100, the nut 103 is used. Stress concentrates on the base material 101 on the far end side of the slit part 102 due to the repetition of tightening. There is a problem that a crack or the like is apt to occur at the inner end of the portion 102.

Conventionally, machine tools such as automatic lathes
Applied to the workpiece chucking device, the tip surface
In the body having a work insertion hole that opens to
Multiple chuck claws around the axis of the workpiece insertion hole in close proximity
While placing, each of these multiple chuck claws
Configure the collet body by setting it to be displaceable in the radial direction.
The diameter is always constant for each chuck claw in the collet body
A torsion spring that urges outward elastic force
And the work insertion hole is concentric
Which constitutes part of the above collet body
Forward and backward along the axis of the work insertion hole
And move forward when it receives working fluid pressure.
Fits a piston that displaces the chuck jaws radially inward
A known chuck device is known (JP-B-49-685).
No. 6).

[0005] However, the chucking device having the above-described structure is used.
Is to chuck the workpiece in a fixed position.
To the tip of the arm of an industrial articulated robot
When the tip of the collet body is facing down,
Each of the above chuck pawls
And fall naturally, displaced inward in the radial direction.
Claw cannot be held at the return position,
There is a problem that the wearing operation is not performed smoothly.

[0006] The present invention has been made in order to solve the above Symbol challenges, work even if you have to face down the body distal end surface
And its object is to provide a chucking device of a work that can you to achieve a smooth clipping operation.

[0007]

To achieve the above object, according to the Invention The chucking device by that work in this invention is substantially concentric with the plurality of collet pieces to the body with a workpiece insertion holes opening to the tip plane the arrangement vital workpiece clamping wear collet formed by setting to be displaceable each of these collets pieces radial <br/> direction
When the elastic force biasing device which is provided on the body urges the elastic force towards the normal Toki径outward to each collet piece, a portion of the body surrounding the workpiece insertion hole concentrically a cylinder portion constituting receives forward-reverse possible and working fluid pressure the cylinder portion fitted to the axial direction of the upper Symbol workpiece insertion hole
Between the main body and each collet piece, and a piston body that moves forward and displaces each collet piece radially inward.
To apply a spring force to the above collet pieces in the axial direction rearward.
It was equipped with a spring member which you characterized.

[0008]

In accordance with the above Ki構 formed, axially after each collet piece
The spring member that urges the spring force toward the body and each collet piece
Use the product with its body face down.
Hold the collet pieces at the return position
Can be performed smoothly
Can be.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. Figure 1 is a longitudinal sectional side view showing a chucking device of a work that by this invention.

In FIG. 1, reference numeral 1 denotes a main body, which is roughly divided into a cylinder portion 2, a head cap portion 3 mounted on the front end side of the cylinder portion 2 in the axial direction, and a rear portion of the cylinder portion 2 in the axial direction. And a cylinder head 4 mounted on the end side.

A bolt insertion hole 5 penetrating along the axial direction is formed in the outer peripheral portion of the cylinder portion 2 at equal intervals in the circumferential direction. The head cap 3 is
A front wall 3a as a front end surface of the main body 1 is formed in a headed cylindrical shape having a work insertion opening 6 concentric with the axis X of the cylinder portion 2, and a rear end thereof corresponds to the bolt insertion hole 5. A mounting flange 3b having a screw hole 7 to be formed is integrally formed. The cylinder head portion 4 has a cylindrical portion 4b protruding from a fitting portion 4a to the rear end opening of the cylinder portion 2 and concentric with the axis X, and a mounting flange 4c. The inside constitutes a part of the work insertion hole 8 extending from the opening 6 to the rear surface (outer surface) of the cylinder head 4. The cylinder part 2 and the head cap part 3
The cylinder head 4 is integrally fixed with a bolt 9 which is inserted into the bolt insertion hole 5 and screwed into the screw hole 7. Reference numeral 10 denotes an O-ring for sealing, which is fitted into an annular recess 11 formed on the outer peripheral surface of the fitting portion 4a of the cylinder head portion 4 and comes into contact with the inner peripheral surface of the cylinder portion 2.

In the head cap portion 3, a plurality of, for example, four collet pieces 13 which are concentric with the axis X and constitute a collet 12 for clamping a work are arranged so as to be displaceable in the radial direction. Further, a collet guide body 14 sandwiched between the front end of the cylinder portion 2 and the flange 3b is disposed inside the head cap portion 3 so as to correspond to each of the collet pieces 13. I have.

Numeral 15 denotes an elastic force urging device for always urging the collet pieces 13 radially outward, for example, a wire spring. Each base end 15a of the wire spring 15 is provided with the collet guide. 14, the collet guide 14 is locked between the collet guide 14 and the engagement recess 16 at the front end side of the cylinder portion 2, while each end portion 15 b of the wire spring 15 is
3 is engaged with a hole 17 of a spring receiving portion 13a protruding radially outward. 18 is interposed between the front end surface 3a of the front recess 19 and the head cap portion 3 of the spring receiving portion 13a, the compression coil biasing the spring force in the axial direction rearward with respect to each collet piece 13 It is a spring. The outer periphery of each end of the collet piece 13 is formed as a tapered surface 13b whose diameter gradually increases toward the rear in the axial direction, and slides on a guide surface 6a which continuously increases in diameter in the axial direction and continues to the opening 6. Contact·
You will be guided.

Reference numeral 20 denotes a substantially cylindrical piston body which is fitted into the cylinder portion 2 and is displaceable in the axial direction, and is guided by the cylinder portion 4b of the cylinder head portion 4. The collet piece 1 is attached to the front end 20a.
3, a pressing surface 20c facing the pressed surface 13c whose diameter gradually decreases rearward in the axial direction. Reference numerals 21 and 22 denote a pair of air ports for supplying compressed air a as a working fluid into the cylinder portion 2.
The other air port 22 is configured for backward movement with respect to the piston body 20 for forward movement with respect to zero.

Reference numeral 23 denotes an annular magnet fixed to the outer peripheral surface of the piston body 20 via a stop ring 24, and a magnetic detecting element (not shown) such as a reed switch.
Thus, a sensor that detects a constant displacement amount of the piston body 20 is configured. Reference numeral 25 denotes a packing member which is mounted on the outer peripheral surface of the piston body 20 and seals the space between the piston body 20 and the inner peripheral surface of the cylinder portion 2.

Next, the operation of the above configuration will be described.
The cylinder head 4 is attached to the tip end of the arm of the robot. A work W such as a round bar is inserted into the work insertion opening 8 through the opening 6 in a state where the plurality of collet pieces 13 are at the original positions shown in FIG. Next, when compressed air a is supplied from one air port 21 into the cylinder portion 2, the piston body 20 moves forward to a position where the magnetic flux of the magnet 23 is detected.

As the piston body 20 advances, as shown in FIG. 2, the pressed surface 13c of each collet piece 13 is pressed by the pressing surface 20c of the front end portion 20a.
The collet piece 13 is guided by the guide surface 6a on the opening 6 side while being displaced inward in the radial direction against the spring force of the wire spring 15, thereby securely clamping the work W from the radial outside. I do.

Each of the collet pieces 13 receives a rearward spring force by a spring member provided between the spring receiving portion 13a and the distal end surface 3a of the head cap portion 3 , for example, a compression coil spring 18. because, even when used in a posture of the distal end side of the body 1 and downwardly, retaining the original state position
Can be lifting displacement to said radially inward reasonably <br/> row of cracks, it is held by the return position of each collet piece 13
The work W can be clamped smoothly.
It is Ru can.

When the supply of the compressed air a from the one air port 21 is stopped and the compressed air a is supplied into the cylinder portion 2 from the other air port 22, the piston body 20 retreats, and each collet piece Since the pressing force of the collet pieces 13 is released, the collet pieces 13 are displaced radially outward by the spring force of the wire spring 15 and returned to the original state of FIG. Therefore, the work W can be pulled out from the collet piece 13.

As described above, the plurality of collet pieces 13 independently arranged at equal intervals around the axis of the work insertion hole 8.
Since the collet 12 is formed from each other, each collet piece 13 is only displaced inward in the radial direction during the work clamping operation, and there is no portion that receives a concentrated stress. And can withstand long-term repeated use.

[0021] Incidentally, are those arbitrarily selected for the number of collet pieces 13 constituting the collet 12, As for the elastic force biasing member 15, the body of the wire spring as described above in Example Not limited to this, a configuration using a leaf spring or a spring is also possible. Further, the working fluid is not limited to the compressed air "a", and it is a matter of course that a hydraulic pressure or the like can be used.

[0022]

As described above, according to the invention] According to this invention, the co
A spring member that applies a spring force backward to the axial direction
By setting between the main body and each collet piece,
When using the collet with the tip side facing down,
Hold the piece in the original position in the proper posture, and
Makes the operation easier and more reliable and smoother, improving work efficiency
Can not Rukoto.

[Brief description of the drawings]

FIG. 1 is a vertical sectional side view of a workpiece chucking device according to an embodiment of the present invention.

FIG. 2 is a vertical sectional side view showing an operation state of the chucking device.

FIG. 3 is an external perspective view showing an example of a collet in a conventional workpiece chucking device.

FIG. 4 is a vertical sectional side view showing a state where a work is chucked using the collet of FIG. 3;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Main body 2 Cylinder part 6 Opening 8 Work insertion port 12 Collet 13 Collet piece 15 Elastic force urging tool 18 Spring member ( coil spring ) 20 Piston body a Working fluid X Axis

Claims (1)

(57) [Scope of request for utility model registration] 1. A displaceably placement vital substantially concentric multiple collet pieces <br/> the body having a workpiece insertion holes opening to the tip plane which <br/> et each collet piece radially set the word <br/> click clamping wear collet comprising a resilient force biasing member for biasing the elastic force provided to the main body towards the normally Toki径outward to each collet piece, the work insertion a cylinder portion constituting a part of the body surrounding the hole concentrically, fitted into the cylinder portion
A piston member for displacing the moving forward before backward possible and receiving <br/> fluid pressure to the axial direction of the upper Symbol workpiece insertion holes each collet piece radially inward side is, and the main body Each collet
Between each collet piece and the axial center
A spring member for urging a spring force toward the
With the tip face down, the spring force of the spring member
A chucking device for a workpiece, wherein each of the collet pieces is held at a return position .